Odometry is crucial for robot navigation, particularly in situations where global positioning
methods like global positioning system are unavailable. The main goal of odometry is to …

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion
in LiDAR scans that can degrade state estimation and map**. Some methods exist to …

While feature association to a global map has significant benefits, to keep the computations
from growing exponentially, most lidar-based odometry and map** methods opt to …

Localization and map** with heterogeneous multisensor fusion have been prevalent in
recent years. To adequately fuse multimodal sensor measurements received at different time …

In this letter, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named
SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO …

A novel approach for robust Unmanned Aerial Vehicle (UAV) altitude estimation relying on
laser measurements that is designed for use in complex indoor environments is proposed in …

In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in
popularity due to their enhanced accuracy and stability from the increased field of view …

High-quality 3-D point cloud maps are essential for precise indoor environment modeling.
However, constructing such maps in multistory indoor environments is challenging due to …